334 lines
10 KiB
Plaintext
334 lines
10 KiB
Plaintext
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Madagascar 0.99999 31/01/2018 20:14:07 amd64 1-core (no VSIDS)
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Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-16.pddlignoring --stats
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ignoring --stats-iter
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ignoring --verbose
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-m 8192
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Domain: tidybot
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Problem: test
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Parser: 54072 ground actions and 918 state variables
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Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 5.01 secs
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Goal: conjunctive
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Simplified: 26722 ground actions and 415 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 6.27 secs (max SCC size 10)
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Plan type: E-step
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Allocated 32 MB permanent (total 414 MB)
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Horizon 0: 415 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 136100 variables
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5 UNSAT (0 decisions 0 conflicts)
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Horizon 10: 271785 variables
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10 UNSAT (0 decisions 0 conflicts)
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Horizon 15: 407470 variables
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Allocated 32 MB (total 811 MB)
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Allocated 32 MB permanent (total 951 MB)
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Horizon 20: 543155 variables
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Horizon 25: 678840 variables
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15 UNSAT (160 decisions 156 conflicts)
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Allocated 32 MB permanent (total 1224 MB)
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Horizon 30: 814525 variables
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Horizon 35: 950210 variables
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Allocated 32 MB permanent (total 1529 MB)
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Horizon 40: 1085895 variables
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Allocated 32 MB permanent (total 1710 MB)
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Horizon 45: 1221580 variables
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Allocated 32 MB permanent (total 1899 MB)
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Horizon 50: 1357265 variables
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Allocated 32 MB permanent (total 2095 MB)
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Horizon 55: 1492950 variables
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Allocated 32 MB permanent (total 2300 MB)
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Allocated 32 MB permanent (total 2332 MB)
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Horizon 60: 1628635 variables
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Allocated 32 MB permanent (total 2544 MB)
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Horizon 65: 1764320 variables
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Allocated 32 MB permanent (total 2765 MB)
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Horizon 70: 1900005 variables
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Allocated 32 MB permanent (total 2994 MB)
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Allocated 32 MB permanent (total 3026 MB)
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Horizon 75: 2035690 variables
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Allocated 32 MB permanent (total 3263 MB)
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Allocated 32 MB permanent (total 3295 MB)
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Horizon 80: 2171375 variables
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Allocated 32 MB (total 3327 MB)
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Allocated 32 MB permanent (total 3571 MB)
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Horizon 85: 2307060 variables
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Allocated 32 MB permanent (total 3824 MB)
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Allocated 32 MB permanent (total 3856 MB)
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Horizon 90: 2442745 variables
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Allocated 32 MB permanent (total 4117 MB)
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Allocated 32 MB permanent (total 4149 MB)
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Horizon 95: 2578430 variables
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Allocated 32 MB permanent (total 4418 MB)
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Allocated 32 MB permanent (total 4450 MB)
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Horizon 100: 2714115 variables
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Allocated 32 MB permanent (total 4727 MB)
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Allocated 32 MB permanent (total 4759 MB)
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Allocated 32 MB permanent (total 4791 MB)
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Horizon 105: 2849800 variables
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Allocated 32 MB permanent (total 5075 MB)
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Allocated 32 MB permanent (total 5107 MB)
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Horizon 110: 2985485 variables
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Allocated 32 MB (total 5139 MB)
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Allocated 32 MB permanent (total 5432 MB)
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Allocated 32 MB permanent (total 5464 MB)
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Horizon 115: 3121170 variables
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Allocated 32 MB (total 5496 MB)
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Allocated 32 MB (total 5528 MB)
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Allocated 32 MB (total 5560 MB)
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GC: 125.99 MB
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SAT (19 ID 984 decisions 576 conflicts 2578430 variables)
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PLAN FOUND: 95 steps
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STEP 0: unpark(pr2,xrel0,yrel0)
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STEP 1: base-right(pr2,x0,x1,y0)
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STEP 2: base-right(pr2,x1,x2,y0)
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STEP 3: base-left(pr2,x2,x1,y0)
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STEP 4: base-down(pr2,x1,y0,y1)
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STEP 5: base-right(pr2,x1,x2,y1)
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STEP 6: base-down(pr2,x2,y1,y2)
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STEP 7: base-up(pr2,x2,y2,y1)
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STEP 8: base-left(pr2,x2,x1,y1)
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STEP 9: grasp-cart-left(pr2,cart,x1,y1,x0)
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STEP 10.0: base-cart-up(pr2,cart,x1,y1,y0,x0,y1,y0)
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STEP 10.1: ungrasp-cart(pr2,cart)
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STEP 11.0: base-right(pr2,x1,x2,y0)
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STEP 11.1: park(pr2)
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STEP 12: gripper-down(pr2,x2,y0,xrel0,x2,yrel0,yrel1,y0,y1)
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STEP 13: gripper-right(pr2,x2,y0,xrel0,xrel1,x2,x3,yrel1,y1)
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STEP 14: gripper-up(pr2,x2,y0,xrel1,x3,yrel1,yrel0,y1,y0)
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STEP 15: gripper-left(pr2,x2,y0,xrel1,xrel0,x3,x2,yrel0,y0)
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STEP 16: unpark(pr2,xrel0,yrel0)
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STEP 17.0: base-down(pr2,x2,y0,y1)
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STEP 17.1: park(pr2)
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STEP 18: gripper-left(pr2,x2,y1,xrel0,xrel-1,x2,x1,yrel0,y1)
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STEP 19: gripper-right(pr2,x2,y1,xrel-1,xrel0,x1,x2,yrel0,y1)
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STEP 20: unpark(pr2,xrel0,yrel0)
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STEP 21: base-right(pr2,x2,x3,y1)
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STEP 22: base-right(pr2,x3,x4,y1)
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STEP 23: base-right(pr2,x4,x5,y1)
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STEP 24: base-down(pr2,x5,y1,y2)
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STEP 25: base-down(pr2,x5,y2,y3)
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STEP 26: base-down(pr2,x5,y3,y4)
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STEP 27: base-down(pr2,x5,y4,y5)
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STEP 28: base-down(pr2,x5,y5,y6)
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STEP 29: base-left(pr2,x5,x4,y6)
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STEP 30: base-right(pr2,x4,x5,y6)
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STEP 31: base-up(pr2,x5,y6,y5)
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STEP 32: base-up(pr2,x5,y5,y4)
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STEP 33: base-up(pr2,x5,y4,y3)
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STEP 34: base-up(pr2,x5,y3,y2)
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STEP 35: base-down(pr2,x5,y2,y3)
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STEP 36: base-down(pr2,x5,y3,y4)
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STEP 37: base-down(pr2,x5,y4,y5)
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STEP 38.0: base-down(pr2,x5,y5,y6)
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STEP 38.1: park(pr2)
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STEP 39: gripper-down(pr2,x5,y6,xrel0,x5,yrel0,yrel1,y6,y7)
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STEP 40: gripper-left(pr2,x5,y6,xrel0,xrel-1,x5,x4,yrel1,y7)
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STEP 41.0: get-left(pr2,x5,y6,xrel-1,x4,yrel1,y7,object0,x3)
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STEP 41.1: gripper-right(pr2,x5,y6,xrel-1,xrel0,x4,x5,yrel1,y7)
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STEP 42: gripper-up(pr2,x5,y6,xrel0,x5,yrel1,yrel0,y7,y6)
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STEP 43: unpark(pr2,xrel0,yrel0)
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STEP 44: base-up(pr2,x5,y6,y5)
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STEP 45: base-up(pr2,x5,y5,y4)
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STEP 46: base-up(pr2,x5,y4,y3)
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STEP 47: base-up(pr2,x5,y3,y2)
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STEP 48: base-up(pr2,x5,y2,y1)
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STEP 49: base-left(pr2,x5,x4,y1)
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STEP 50: base-left(pr2,x4,x3,y1)
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STEP 51: base-left(pr2,x3,x2,y1)
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STEP 52.0: base-down(pr2,x2,y1,y2)
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STEP 52.1: park(pr2)
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STEP 53.0: put-down(pr2,x2,y2,xrel0,x2,yrel0,y2,object0,y3)
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STEP 53.1: unpark(pr2,xrel0,yrel0)
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STEP 54: base-down(pr2,x2,y2,y3) finish-object(object0,x2,y3)
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STEP 55.0: base-down(pr2,x2,y3,y4)
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STEP 55.1: park(pr2)
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STEP 56.0: get-right(pr2,x2,y4,xrel0,x2,yrel0,y4,object1,x3)
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STEP 56.1: unpark(pr2,xrel0,yrel0)
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STEP 57: base-up(pr2,x2,y4,y3)
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STEP 58.0: base-down(pr2,x2,y3,y4)
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STEP 58.1: park(pr2)
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STEP 59: gripper-right(pr2,x2,y4,xrel0,xrel1,x2,x3,yrel0,y4)
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STEP 60: put-left(pr2,x2,y4,xrel1,x3,yrel0,y4,object1,x2)
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STEP 61: finish-object(object1,x2,y4) get-left(pr2,x2,y4,xrel1,x3,yrel0,y4,object2,x2)
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STEP 62: put-up(pr2,x2,y4,xrel1,x3,yrel0,y4,object2,y3)
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STEP 63: finish-object(object2,x3,y3) gripper-left(pr2,x2,y4,xrel1,xrel0,x3,x2,yrel0,y4)
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STEP 64: unpark(pr2,xrel0,yrel0)
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STEP 65: base-up(pr2,x2,y4,y3)
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STEP 66: base-up(pr2,x2,y3,y2)
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STEP 67: base-up(pr2,x2,y2,y1)
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STEP 68: base-right(pr2,x2,x3,y1)
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STEP 69: base-right(pr2,x3,x4,y1)
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STEP 70.0: base-right(pr2,x4,x5,y1)
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STEP 70.1: park(pr2)
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STEP 71: gripper-down(pr2,x5,y1,xrel0,x5,yrel0,yrel1,y1,y2)
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STEP 72: gripper-up(pr2,x5,y1,xrel0,x5,yrel1,yrel0,y2,y1)
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STEP 73: unpark(pr2,xrel0,yrel0)
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STEP 74: base-left(pr2,x5,x4,y1)
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STEP 75: base-left(pr2,x4,x3,y1)
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STEP 76: base-right(pr2,x3,x4,y1)
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STEP 77.0: base-right(pr2,x4,x5,y1)
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STEP 77.1: park(pr2)
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STEP 78: gripper-right(pr2,x5,y1,xrel0,xrel1,x5,x6,yrel0,y1)
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STEP 79: gripper-left(pr2,x5,y1,xrel1,xrel0,x6,x5,yrel0,y1)
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STEP 80: unpark(pr2,xrel0,yrel0)
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STEP 81.0: base-right(pr2,x5,x6,y1)
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STEP 81.1: park(pr2)
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STEP 82: gripper-right(pr2,x6,y1,xrel0,xrel1,x6,x7,yrel0,y1)
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STEP 83: gripper-down(pr2,x6,y1,xrel1,x7,yrel0,yrel1,y1,y2)
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STEP 84.0: get-down(pr2,x6,y1,xrel1,x7,yrel1,y2,object3,y3)
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STEP 84.1: gripper-up(pr2,x6,y1,xrel1,x7,yrel1,yrel0,y2,y1)
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STEP 85: gripper-left(pr2,x6,y1,xrel1,xrel0,x7,x6,yrel0,y1)
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STEP 86: unpark(pr2,xrel0,yrel0)
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STEP 87: base-left(pr2,x6,x5,y1)
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STEP 88: base-left(pr2,x5,x4,y1)
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STEP 89: base-left(pr2,x4,x3,y1)
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STEP 90: base-down(pr2,x3,y1,y2)
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STEP 91.0: base-down(pr2,x3,y2,y3)
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STEP 91.1: park(pr2)
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STEP 92: put-down(pr2,x3,y3,xrel0,x3,yrel0,y3,object3,y4)
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STEP 93: finish-object(object3,x3,y4)
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112 actions in the plan.
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# statistics in YAML format
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---
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runtime:
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total: 92.02 # [s]
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preprocessing: 12.17 # [s]
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maxLearnedClauseLength: 147416
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groundActions:
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afterParsing: 54072
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afterPreprocessing: 26722
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stateVariables:
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afterParsing: 918
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afterPreprocessing: 415
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stronglyConnectedComponents:
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maxSize: 10
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plan:
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found: true
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length: 95
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actions: 112
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iterations:
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- horizon: 0
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 415
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- horizon: 5
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 136100
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- horizon: 10
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result: unsatisfiable
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conflicts: 0
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decisions: 0
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variables: 271785
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- horizon: 15
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result: unsatisfiable
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conflicts: 156
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decisions: 160
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variables: 407470
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- horizon: 20
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result: unknown
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conflicts: 2521
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decisions: 2749
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variables: 543155
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- horizon: 25
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result: unknown
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conflicts: 2340
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decisions: 2690
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variables: 678840
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- horizon: 30
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result: unknown
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conflicts: 2102
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decisions: 2579
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variables: 814525
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- horizon: 35
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result: unknown
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conflicts: 1920
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decisions: 2497
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variables: 950210
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- horizon: 40
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result: unknown
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conflicts: 1743
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decisions: 2258
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variables: 1085895
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- horizon: 45
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result: unknown
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conflicts: 1561
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decisions: 2283
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variables: 1221580
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- horizon: 50
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result: unknown
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conflicts: 1381
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decisions: 1963
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variables: 1357265
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- horizon: 55
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result: unknown
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conflicts: 1260
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decisions: 1850
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variables: 1492950
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- horizon: 60
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result: unknown
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conflicts: 1142
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decisions: 1774
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variables: 1628635
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- horizon: 65
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result: unknown
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conflicts: 1022
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decisions: 1606
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variables: 1764320
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- horizon: 70
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result: unknown
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conflicts: 960
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decisions: 1512
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variables: 1900005
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- horizon: 75
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result: unknown
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conflicts: 840
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decisions: 1365
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variables: 2035690
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- horizon: 80
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result: unknown
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conflicts: 780
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decisions: 1237
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variables: 2171375
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- horizon: 85
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||
|
|
result: unknown
|
||
|
|
conflicts: 723
|
||
|
|
decisions: 1149
|
||
|
|
variables: 2307060
|
||
|
|
- horizon: 90
|
||
|
|
result: unknown
|
||
|
|
conflicts: 660
|
||
|
|
decisions: 1146
|
||
|
|
variables: 2442745
|
||
|
|
- horizon: 95
|
||
|
|
result: satisfiable
|
||
|
|
conflicts: 576
|
||
|
|
decisions: 984
|
||
|
|
variables: 2578430
|
||
|
|
- horizon: 100
|
||
|
|
result: unknown
|
||
|
|
conflicts: 540
|
||
|
|
decisions: 993
|
||
|
|
variables: 2714115
|
||
|
|
- horizon: 105
|
||
|
|
result: unknown
|
||
|
|
conflicts: 481
|
||
|
|
decisions: 860
|
||
|
|
variables: 2849800
|
||
|
|
- horizon: 110
|
||
|
|
result: unknown
|
||
|
|
conflicts: 420
|
||
|
|
decisions: 706
|
||
|
|
variables: 2985485
|
||
|
|
- horizon: 115
|
||
|
|
result: unknown
|
||
|
|
conflicts: 420
|
||
|
|
decisions: 699
|
||
|
|
variables: 3121170
|
||
|
|
...
|
||
|
|
|